Reconfigurable Robots towards the Manufacturing of the Future
N. A. Aspragathos
University of Patras, Greece
Outline
Research advances on reconfigurable robots for manufacturing applications
Classification of the platforms and modules
Design, planning and control of reconfigurable robots and software for the simulation and operation
Challenges and perspectives
An integrated environment and a knowledge-base for rapid configuration
Introduction
The concept of reconfigurable manufacturing systems and robots is a promising direction towards a new era of agility and flexibility.
A reconfigurable robot is a structure of variable topology built by self-contained mechatronic modules, which can connect and disconnect easily to adjacent modules.
A little of research is carried out on the reconfigurable robotic workcells.
Mapping of tasks to robots and vice versa
Research Advances
New modules
New platforms
Algorithms for design and planning
Optimal design of reconfigurable robots for matching to required tasks
The barrier for further advancements is the fragmented approach
A classification of the robot basic platforms
Platforms
Most of the mobile reconfigurable robots are designed for non-manufacturing applications such as rescue robots or walking-wheeled robots for exploring irregular terrains
The stationary are designed mainly for manufacturing
Serial (“Puma” modular, RMMS from Carnegie Mellon)
Parallel (Hyper-Redundant reconfigurable Robotic Arms, and Compliant parallel mechanisms driven by optimized magnet-coil actuators
Hybrid serial/parallel manipulators (serial robots built from modules that are parallel robots)
Mechatronic modules
The modules are mechatronic devices equipped with controllers, communications, actuators, sensors and connectors to join other modules
Modules Classification
Passive or Active
Fixed or Variable dimension and
Connectors
Design, motion planning and control
The development of reconfigurable robots includes
design of standard modules,
optimal anatomy adaptable to a diversity of task requirements,
planning and control of the robot to accomplish the required task
Main Challenges
New anatomies and mechatronic modules for homogeneous reconfigurable robots
Optimal matching of robots structure to task requirements
Intelligence for task planning and control with autonomous reconfiguration
Integrated environment for design, planning, control and simulation software
Perspectives
The research efforts have to focus towards the establishment of an integrated environment for design, planning and control
Knowledge-based system for optimal mapping the task requirements to the robot model and performance
Process simultaneously qualitative and quantitative knowledge for the conceptual design, planning and control of reconfigurable robots
An operating system for plug and play of the components
Integrated environment
Conclusions
Reconfigurable robots is a promising technology for increasing the flexibility and versatility of the robots and manufacturing systems
An integrated synergetic research and development effort is necessary to incorporate the reconfigurable robots into the reconfigurable manufacturing systems in the near future
The level of research on self- reconfigurable self-diagnostic and self-repair robots is in its infancy
For the deployment of the last type of robots a great effort of basic research is still necessary.
